add template specialisation for kf and ekf 2 1 2

Author: LucienMorey

subprojects/robotpy-wpimath/gen/controls/ExtendedKalmanFilter.yml

@@ -65,6 +65,13 @@ templates:
     - 2
     - 1
     - 1 
+  ExtendedKalmanFilter_2_1_2:
+    qualname: frc::ExtendedKalmanFilter
+    subpackage: estimator
+    params:
+    - 2
+    - 1
+    - 2
   ExtendedKalmanFilter_2_2_2:
     qualname: frc::ExtendedKalmanFilter
     subpackage: estimator

subprojects/robotpy-wpimath/gen/controls/KalmanFilter.yml

@@ -48,6 +48,13 @@ templates:
     - 2
     - 1
     - 1 
+  KalmanFilter_2_1_2:    
+    qualname: frc::KalmanFilter
+    subpackage: estimator
+    params:
+    - 2
+    - 1
+    - 2
   KalmanFilter_2_2_2:
     qualname: frc::KalmanFilter
     subpackage: estimator

subprojects/robotpy-wpimath/wpimath/estimator/__init__.py

@@ -6,9 +6,11 @@
     DifferentialDrivePoseEstimatorBase,
     ExtendedKalmanFilter_1_1_1,
     ExtendedKalmanFilter_2_1_1,
+    ExtendedKalmanFilter_2_1_2,
     ExtendedKalmanFilter_2_2_2,
     KalmanFilter_1_1_1,
     KalmanFilter_2_1_1,
+    KalmanFilter_2_1_2,
     KalmanFilter_2_2_2,
     KalmanFilter_3_2_3,
     MecanumDrivePoseEstimator,
@@ -40,9 +42,11 @@
     "DifferentialDrivePoseEstimatorBase",
     "ExtendedKalmanFilter_1_1_1",
     "ExtendedKalmanFilter_2_1_1",
+    "ExtendedKalmanFilter_2_1_2",
     "ExtendedKalmanFilter_2_2_2",
     "KalmanFilter_1_1_1",
     "KalmanFilter_2_1_1",
+    "KalmanFilter_2_1_2",
     "KalmanFilter_2_2_2",
     "KalmanFilter_3_2_3",
     "MecanumDrivePoseEstimator",